diff --git a/GroundSdk.podspec b/GroundSdk.podspec
index 6a0353e..abead05 100644
--- a/GroundSdk.podspec
+++ b/GroundSdk.podspec
@@ -1,17 +1,17 @@
 
 Pod::Spec.new do |s|
     s.name                  = "GroundSdk"
-    s.version               = "7.1.0"
+    s.version               = "7.2.0"
     s.summary               = "Parrot Drone SDK"
     s.homepage              = "https://developer.parrot.com"
     s.license               = "{ :type => 'BSD 3-Clause License', :file => 'LICENSE' }"
     s.author                = 'Parrot Drone SAS'
-    s.source                = { :git => 'https://github.com/Parrot-Developers/pod_groundsdk.git', :tag => "7.1.0" }
+    s.source                = { :git => 'https://github.com/Parrot-Developers/pod_groundsdk.git', :tag => "7.2.0" }
     s.platform              = :ios
     s.ios.deployment_target = '12.0'
     s.source_files          = 'GroundSdk/**/*.{swift,h,m}'
     s.resources             = 'GroundSdk/**/*.{vsh,fsh,txt,png}'
-    s.dependency            'SdkCore', '7.1.0'
+    s.dependency            'SdkCore', '7.2.0'
     s.public_header_files   = ["GroundSdk/GroundSdk.h"]
     s.swift_version         = '5'
     s.pod_target_xcconfig   = {'SWIFT_VERSION' => '5'}
diff --git a/GroundSdk/Device/Instrument/Alarms.swift b/GroundSdk/Device/Instrument/Alarms.swift
index 54f5e81..660a9e6 100644
--- a/GroundSdk/Device/Instrument/Alarms.swift
+++ b/GroundSdk/Device/Instrument/Alarms.swift
@@ -162,6 +162,11 @@ public class Alarm: NSObject {
         /// direction.
         case obstacleAvoidanceBlindMotionDirection
 
+        /// Obstacle avoidance is frozen.
+        /// The drone does not respond to PCMD.
+        /// Obstacle avoidance mode needs to be set to disabled for the drone to move again.
+        case obstacleAvoidanceFreeze
+
         /// Drone inclination is to high to fly safely.
         case inclinationTooHigh
 
@@ -171,6 +176,12 @@ public class Alarm: NSObject {
         /// Vertical geofence reached.
         case verticalGeofenceReached
 
+        /// Free fall detected.
+        case freeFallDetected
+
+        /// Stereo camera is decalibrated.
+        case stereoCameraDecalibrated
+
         /// Debug description.
         public var description: String {
             switch self {
@@ -208,6 +219,9 @@ public class Alarm: NSObject {
             case .inclinationTooHigh:                            return "inclinationTooHigh"
             case .horizontalGeofenceReached:                     return "horizontalGeofenceReached"
             case .verticalGeofenceReached:                       return "verticalGeofenceReached"
+            case .obstacleAvoidanceFreeze:                       return "obstacleAvoidanceFreeze"
+            case .freeFallDetected:                              return "freeFallDetected"
+            case .stereoCameraDecalibrated:                      return "stereoCameraDecalibrated"
             }
         }
 
@@ -222,7 +236,8 @@ public class Alarm: NSObject {
             .obstacleAvoidanceDisabledTooDark, .obstacleAvoidanceDisabledEstimationUnreliable,
             .obstacleAvoidanceDisabledCalibrationFailure, .obstacleAvoidanceStrongWind, .obstacleAvoidancePoorGps,
             .obstacleAvoidanceComputationalError, .obstacleAvoidanceBlindMotionDirection,
-            .inclinationTooHigh, .horizontalGeofenceReached, .verticalGeofenceReached]
+            .inclinationTooHigh, .horizontalGeofenceReached, .verticalGeofenceReached,
+            .obstacleAvoidanceFreeze, .freeFallDetected, .stereoCameraDecalibrated]
     }
 
     /// Alarm level.
@@ -258,6 +273,11 @@ public class Alarm: NSObject {
     /// Level of the alarm.
     public internal(set) var level: Level
 
+    /// Delay related to this alarm.
+    /// Used only by Obstacle avoidance.
+    /// This delay indicates the time after which the obstacle avoidance is deactivated.
+    public internal(set) var timer: TimeInterval?
+
     /// Constructor.
     ///
     /// - Parameters:
diff --git a/GroundSdk/Device/PilotingItf/FlightPlanPilotingItf.swift b/GroundSdk/Device/PilotingItf/FlightPlanPilotingItf.swift
index 9584b91..1af375b 100644
--- a/GroundSdk/Device/PilotingItf/FlightPlanPilotingItf.swift
+++ b/GroundSdk/Device/PilotingItf/FlightPlanPilotingItf.swift
@@ -39,7 +39,8 @@ public enum FlightPlanUnavailabilityReason: Int, CustomStringConvertible {
     /// No flight plan file uploaded.
     case missingFlightPlanFile
     /// Drone cannot take-off.
-    /// This error can happen if the flight plan piloting interface is activated while the drone cannot take off.
+    /// This error can happen if the flight plan piloting interface is activated while the drone
+    /// cannot take off.
     /// It can be for example if the drone is in emergency or has not enough battery to take off.
     case cannotTakeOff
     /// Drone camera is not available.
@@ -117,7 +118,8 @@ public enum FlightPlanFileUploadState: Int, CustomStringConvertible {
     }
 }
 
-/// Result of media resources clean before recovery of a flight plan execution, see `cleanBeforeRecovery`.
+/// Result of media resources clean before recovery of a flight plan execution,
+/// see `cleanBeforeRecovery`.
 public enum CleanBeforeRecoveryResult: String, CustomStringConvertible {
     /// Media resources clean succeeded.
     case success
@@ -156,8 +158,8 @@ public struct RecoveryInfo: Equatable {
     ///   - latestMissionItemExecuted: index of the latest mission item completed
     ///   - runningTime: running time of the flightplan being executed
     ///   - resourceId: first resource id of the latest media capture requested by the flightplan.
-    public init(id: String, customId: String, latestMissionItemExecuted: UInt, runningTime: TimeInterval,
-                resourceId: String) {
+    public init(id: String, customId: String, latestMissionItemExecuted: UInt,
+                runningTime: TimeInterval, resourceId: String) {
         self.id = id
         self.customId = customId
         self.latestMissionItemExecuted = latestMissionItemExecuted
@@ -166,20 +168,33 @@ public struct RecoveryInfo: Equatable {
     }
 }
 
+/// Describes the drone's behaviour upon disconnection of GroundSdk.
+public enum FlightPlanDisconnectionPolicy {
+    /// The drone stops the current executing flight plan and performs an Return To Home.
+    case returnToHome
+    /// The drone continues the current flight plan execution until its completion. Upon reaching
+    /// completion if the GroundSdk is still disconnected the default disconnect behavior is
+    /// performed.
+    case `continue`
+}
+
 /// Flight Plan piloting interface for drones.
 ///
 /// Allows to make the drone execute predefined flight plans.
 /// A flight plan is defined using a file in Mavlink format. For further information, please refer to
 /// [Parrot FlightPlan Mavlink documentation](https://developer.parrot.com/docs/mavlink-flightplan).
 ///
-/// This piloting interface remains `.unavailable` until all `FlightPlanUnavailabilityReason` have been cleared:
-///  - A Flight Plan file (i.e. a mavlink file) has been uploaded to the drone (see uploadFlightPlan(filepath:))
+/// This piloting interface remains `.unavailable` until all `FlightPlanUnavailabilityReason` have
+/// been cleared:
+///  - A Flight Plan file (i.e. a mavlink file) has been uploaded to the drone (see
+///    `uploadFlightPlan(filepath:)`)
 ///  - The drone GPS location has been acquired
 ///  - The drone is properly calibrated
 ///  - The drone is in a state that allows it to take off
 ///
-/// Then, when all those conditions hold, the interface becomes `.idle` and can be activated to begin or resume
-/// Flight Plan execution, which can be paused by deactivating this piloting interface.
+/// Then, when all those conditions hold, the interface becomes `.idle` and can be activated to
+/// begin or resume Flight Plan execution, which can be paused by deactivating this piloting
+/// interface.
 ///
 /// This piloting interface can be retrieved by:
 /// ```
@@ -205,7 +220,8 @@ public protocol FlightPlanPilotingItf: PilotingItf, ActivablePilotingItf {
     /// It is put back to `.none` as soon as `activate(restart:)` is called.
     var latestActivationError: FlightPlanActivationError { get }
 
-    /// Whether the current flight plan on the drone is the latest one that has been uploaded from the application.
+    /// Whether the current flight plan on the drone is the latest one that has been uploaded from
+    /// the application.
     var flightPlanFileIsKnown: Bool { get }
 
     /// Identifier of the flight plan currently loaded on the drone, `nil` if unknown.
@@ -216,24 +232,33 @@ public protocol FlightPlanPilotingItf: PilotingItf, ActivablePilotingItf {
     /// This information is provided by the drone at connection and when a flight plan stops.
     /// It is turned to `nil` when the drone is disconnected or when `clearRecoveryInfo()` is called.
     ///
-    /// If the application lose connection to the drone during a flight plan and then flight plan stops, this
-    /// information will help the application to manage flight plan resume at reconnection.
+    /// If the application lose connection to the drone during a flight plan and then flight plan
+    /// stops, this information will help the application to manage flight plan resume at
+    /// reconnection.
     var recoveryInfo: RecoveryInfo? { get }
 
     /// Whether the flight plan is currently paused.
     ///
-    /// If `true`, the restart parameter of `activate(restart:)` can be set to `false` to resume the flight plan instead
-    /// of playing it from the beginning. If `isPaused` is `false,` this parameter will be ignored and the flight plan
-    /// will be played from its beginning.
+    /// If `true`, the restart parameter of `activate(restart:)` can be set to `false` to resume the
+    /// flight plan instead of playing it from the beginning. If `isPaused` is `false,` this
+    /// parameter will be ignored and the flight plan will be played from its beginning.
     ///
-    /// When this piloting interface is deactivated, any currently playing flight plan will be paused.
+    /// When this piloting interface is deactivated, any currently playing flight plan will be
+    /// paused.
     var isPaused: Bool { get }
 
     /// Whether start of a flight plan at a given mission item is supported.
     ///
-    /// When `true`, method `activate(missionItem:restart:type:)` can be used.
+    /// When `true`, method `activate(restart:interpreter:missionItem:)` can be used.
     var activateAtMissionItemSupported: Bool { get }
 
+    /// Whether start of a flight plan at a given mission item with a disconnection policy is
+    /// supported.
+    ///
+    /// When `true`, method `activate(restart:interpreter:missionItem:disconnectionPolicy:)` can be
+    /// used.
+    var activateAtMissionItemV2Supported: Bool { get }
+
     /// Tells whether uploading a flight plan with an associated custom identifier is supported.
     ///
     /// When `true`, method `uploadFlightPlan(filepath:customFlightPlanId:)` can be used.
@@ -241,8 +266,9 @@ public protocol FlightPlanPilotingItf: PilotingItf, ActivablePilotingItf {
 
     /// Uploads a Flight Plan file to the drone.
     ///
-    /// When the upload ends, if all other necessary conditions hold (GPS location acquired, drone properly calibrated),
-    /// then the interface becomes idle and the Flight Plan is ready to be executed.
+    /// When the upload ends, if all other necessary conditions hold (GPS location acquired, drone
+    /// properly calibrated), then the interface becomes idle and the Flight Plan is ready to be
+    /// executed.
     ///
     /// If any upload is on-going it is cancelled.
     ///
@@ -251,11 +277,12 @@ public protocol FlightPlanPilotingItf: PilotingItf, ActivablePilotingItf {
 
     /// Uploads a Flight Plan file to the drone.
     ///
-    /// This method associates the provided identifier only if `isUploadWithCustomIdSupported` returns `true`,
-    /// otherwise it behaves strictly as `uploadFlightPlan(filepath:)` function.
+    /// This method associates the provided identifier only if `isUploadWithCustomIdSupported`
+    /// returns `true`, otherwise it behaves strictly as `uploadFlightPlan(filepath:)` function.
     ///
-    /// When the upload ends, if all other necessary conditions hold (GPS location acquired, drone properly calibrated),
-    /// then the interface becomes idle and the Flight Plan is ready to be executed.
+    /// When the upload ends, if all other necessary conditions hold (GPS location acquired, drone
+    /// properly calibrated), then the interface becomes idle and the Flight Plan is ready to be
+    /// executed.
     ///
     /// If any upload is on-going it is cancelled.
     ///
@@ -276,12 +303,13 @@ public protocol FlightPlanPilotingItf: PilotingItf, ActivablePilotingItf {
     /// The flight plan is resumed if the `restart` parameter is false and `isPaused` is `true`.
     /// Otherwise, the flight plan is restarted from its beginning.
     ///
-    /// If successful, it deactivates the current piloting interface and activate this one.
+    /// If successful, it deactivates the current piloting interface and activates this one.
     ///
     /// - Parameter restart: `true` to force restarting the flight plan.
     ///                       If `isPaused` is `false`, this parameter will be ignored.
     /// - Returns: `true` on success, `false` if the piloting interface can't be activated
-    /// - Note: activate(restart:) will call activate(restart: interpreter:) with interpreter `legacy`.
+    /// - Note: `activate(restart:)` will call `activate(restart: interpreter:)` with interpreter
+    /// `legacy`.
     func activate(restart: Bool) -> Bool
 
     /// Activates this piloting interface and starts executing the uploaded flight plan.
@@ -290,32 +318,53 @@ public protocol FlightPlanPilotingItf: PilotingItf, ActivablePilotingItf {
     /// The flight plan is resumed if the `restart` parameter is false and `isPaused` is `true`.
     /// Otherwise, the flight plan is restarted from its beginning.
     ///
-    /// If successful, it deactivates the current piloting interface and activate this one.
+    /// If successful, it deactivates the current piloting interface and activates this one.
     ///
     /// - Parameters:
-    ///    - restart: `true` to force restarting the flight plan.
-    ///              If `isPaused` is `false`, this parameter will be ignored.
+    ///    - restart: `true` to force restarting the flight plan. If `isPaused` is `false`, this
+    ///      parameter will be ignored.
     ///    - interpreter: instructs how the flight plan must be interpreted by the drone.
     /// - Returns: `true` on success, `false` if the piloting interface can't be activated
     func activate(restart: Bool, interpreter: FlightPlanInterpreter) -> Bool
 
-    /// Activates this piloting interface and starts executing the uploaded flight plan at given mission item.
+    /// Activates this piloting interface and starts executing the uploaded flight plan at given
+    /// mission item.
     ///
     /// The interface should be `.idle` for this method to have effect.
     /// The flight plan is resumed if the `restart` parameter is false and `isPaused` is `true`.
     /// Otherwise, the flight plan is restarted from the mission item.
     /// This method can be used only when `activateAtMissionItemSupported` is `true`.
     ///
-    /// If successful, it deactivates the current piloting interface and activate this one.
+    /// If successful, it deactivates the current piloting interface and activates this one.
     ///
     /// - Parameters:
-    ///    - restart: `true` to force restarting the flight plan.
-    ///              If `isPaused` is `false`, this parameter will be ignored.
+    ///    - restart: `true` to force restarting the flight plan. If `isPaused` is `false`, this
+    ///      parameter will be ignored.
     ///    - interpreter: instructs how the flight plan must be interpreted by the drone
     ///    - missionItem: index of mission item where the flight plan should start
     /// - Returns: `true` on success, `false` if the piloting interface can't be activated
     func activate(restart: Bool, interpreter: FlightPlanInterpreter, missionItem: UInt) -> Bool
 
+    /// Activates this piloting interface and starts executing the uploaded flight plan at given mission item.
+    ///
+    /// The interface should be `.idle` for this method to have effect.
+    /// The flight plan is resumed if the `restart` parameter is false and `isPaused` is `true`.
+    /// Otherwise, the flight plan is restarted from the mission item.
+    /// This method can be used only when `activateAtMissionItemSupported` is `true`.
+    ///
+    /// If successful, it deactivates the current piloting interface and activates this one.
+    ///
+    /// - Parameters:
+    ///    - restart: `true` to force restarting the flight plan. If `isPaused` is `false`, this
+    ///      parameter will be ignored.
+    ///    - interpreter: instructs how the flight plan must be interpreted by the drone
+    ///    - missionItem: index of mission item where the flight plan should start
+    ///    - disconnectionPolicy: the behavior of the drone when a disconnection occurs
+    /// - Returns: `true` on success, `false` if the piloting interface can't be activated
+    /// - Note: This activation method is compatible with drones running on firmware at least 7.2.
+    func activate(restart: Bool, interpreter: FlightPlanInterpreter, missionItem: UInt,
+                  disconnectionPolicy: FlightPlanDisconnectionPolicy) -> Bool
+
     /// Stops execution of current flight plan, if any.
     ///
     /// This method has effect only if the piloting interface is active or if `isPaused` is `true`.
@@ -325,22 +374,24 @@ public protocol FlightPlanPilotingItf: PilotingItf, ActivablePilotingItf {
     /// - Returns: `true` if the stop command was sent to the drone, `false` otherwise
     func stop() -> Bool
 
-    /// Clears information about the latest flight plan started by the drone prior to current connection.
+    /// Clears information about the latest flight plan started by the drone prior to current
+    /// connection.
     ///
-    /// This sends a command to the drone to clear this information, and sets `recoveryInfo` to `nil`.
+    /// This sends a command to the drone to clear this information, and sets `recoveryInfo` to
+    /// `nil`.
     func clearRecoveryInfo()
 
     /// Cleans media resources before recovery of a flight plan execution.
     ///
-    /// When a flight plan execution is interrupted, it can be restarted later from the latest reached waypoint.
-    /// This function can be called before the flight plan restart to delete media resources captured during the
-    /// interrupted execution and after the latest reached waypoint. The aim is to not have duplicate media resources
-    /// captured after the latest reached waypoint.
+    /// When a flight plan execution is interrupted, it can be restarted later from the latest
+    /// reached waypoint. This function can be called before the flight plan restart to delete media
+    /// resources captured during the interrupted execution and after the latest reached waypoint.
+    /// The aim is to not have duplicate media resources captured after the latest reached waypoint.
     ///
     /// - Parameters:
     ///    - customId: custom identifier, as provided by `recoveryInfo`
-    ///    - resourceId: first resource identifier of media captured after the latest reached waypoint, as provided
-    ///    by `recoveryInfo`
+    ///    - resourceId: first resource identifier of media captured after the latest reached
+    ///      waypoint, as provided by `recoveryInfo`
     ///    - completion: completion callback (called on the main thread)
     ///    - result: media resources clean result
     /// - Returns: a clean media resources cancelable request
@@ -351,19 +402,22 @@ public protocol FlightPlanPilotingItf: PilotingItf, ActivablePilotingItf {
 /// Flight Plan piloting interface for drones.
 ///
 /// Allows to make the drone execute predefined flight plans.
-/// This piloting interface remains `.unavailable` until all `FlightPlanUnavailabilityReason` have been cleared:
-///  - A Flight Plan file (i.e. a mavlink file) has been uploaded to the drone (see uploadFlightPlan(filepath:))
+/// This piloting interface remains `.unavailable` until all `FlightPlanUnavailabilityReason` have
+/// been cleared:
+///  - A Flight Plan file (i.e. a mavlink file) has been uploaded to the drone (see
+///    `uploadFlightPlan(filepath:))`
 ///  - The drone GPS location has been acquired
 ///  - The drone is properly calibrated
 ///  - The drone is in a state that allows it to take off
 ///
-/// Then, when all those conditions hold, the interface becomes `.idle` and can be activated to begin or resume
-/// Flight Plan execution, which can be paused by deactivating this piloting interface.
+/// Then, when all those conditions hold, the interface becomes `.idle` and can be activated to
+/// begin or resume Flight Plan execution, which can be paused by deactivating this piloting
+/// interface.
 ///
 /// This piloting interface can be retrieved by:
 ///
 /// ```
-// id<GSFlightPlanPilotingItf> fplan = (id<GSFlightPlanPilotingItf>)[drone getPilotingItf:GSPilotingItfs.flightPlan];
+/// id<GSFlightPlanPilotingItf> fplan = (id<GSFlightPlanPilotingItf>)[drone getPilotingItf:GSPilotingItfs.flightPlan];
 /// ```
 /// - Note: This protocol is for Objective-C only. Swift must use the protocol `FlightPlanPilotingItf`.
 @objc
@@ -382,21 +436,24 @@ public protocol GSFlightPlanPilotingItf: PilotingItf, ActivablePilotingItf {
     /// It is put back to `.none` as soon as `activate(restart:)` is called.
     var latestActivationError: FlightPlanActivationError { get }
 
-    /// Whether the current flight plan on the drone is the latest one that has been uploaded from the application.
+    /// Whether the current flight plan on the drone is the latest one that has been uploaded from
+    /// the application.
     var flightPlanFileIsKnown: Bool { get }
 
     /// Whether the flight plan is currently paused.
     ///
-    /// If `true`, the restart parameter of `activate(restart:)` can be set to `false` to resume the flight plan instead
-    /// of playing it from the beginning. If `isPaused` is false, this parameter will be ignored and the flight plan
-    /// will be played from its beginning.
+    /// If `true`, the restart parameter of `activate(restart:)` can be set to `false` to resume the
+    /// flight plan instead of playing it from the beginning. If `isPaused` is false, this parameter
+    /// will be ignored and the flight plan will be played from its beginning.
     ///
-    /// When this piloting interface is deactivated, any currently playing flight plan will be paused.
+    /// When this piloting interface is deactivated, any currently playing flight plan will be
+    /// paused.
     var isPaused: Bool { get }
 
     /// Uploads a Flight Plan file to the drone.
-    /// When the upload ends, if all other necessary conditions hold (GPS location acquired, drone properly calibrated),
-    /// then the interface becomes idle and the Flight Plan is ready to be executed.
+    /// When the upload ends, if all other necessary conditions hold (GPS location acquired, drone
+    /// properly calibrated), then the interface becomes idle and the Flight Plan is ready to be
+    /// executed.
     ///
     /// - Parameter filepath: local path of the file to upload
     func uploadFlightPlan(filepath: String)
@@ -412,7 +469,8 @@ public protocol GSFlightPlanPilotingItf: PilotingItf, ActivablePilotingItf {
     /// - Parameter restart: `true` to force restarting the flight plan.
     ///                      If `isPaused` is false, this parameter will be ignored.
     /// - Returns: `true` on success, `false` if the piloting interface can't be activated
-    /// - Note: activate(restart:) will call activate(restart: type:), default value of type is `flightPlan`
+    /// - Note: `activate(restart:)` will call `activate(restart: type:)`, default value of type is
+    ///  `flightPlan`
     func activate(restart: Bool) -> Bool
 
     /// Activates this piloting interface and starts executing the uploaded flight plan.
@@ -430,10 +488,12 @@ public protocol GSFlightPlanPilotingItf: PilotingItf, ActivablePilotingItf {
     /// - Returns: `true` on success, `false` if the piloting interface can't be activated
     func activate(restart: Bool, interpreter: FlightPlanInterpreter) -> Bool
 
-    /// Tells whether a given reason is partly responsible of the unavailable state of this piloting interface.
+    /// Tells whether a given reason is partly responsible of the unavailable state of this piloting
+    /// interface.
     ///
     /// - Parameter reason: the reason to query
-    /// - Returns: `true` if the piloting interface is partly unavailable because of the given reason.
+    /// - Returns: `true` if the piloting interface is partly unavailable because of the given
+    ///   reason.
     func hasUnavailabilityReason(_ reason: FlightPlanUnavailabilityReason) -> Bool
 }
 
diff --git a/GroundSdk/GroundSdkConfig.swift b/GroundSdk/GroundSdkConfig.swift
index 7ac5ad4..6d7b1aa 100644
--- a/GroundSdk/GroundSdkConfig.swift
+++ b/GroundSdk/GroundSdkConfig.swift
@@ -338,7 +338,7 @@ public class GroundSdkConfig: NSObject {
         }
     }
 
-    /// Maximum memroy size used by cellular log messages, in kilobytes.
+    /// Maximum memory size used by cellular log messages, in kilobytes.
     public var cellularCellularLogsKb: UInt? {
         willSet(newValue) {
             checkLocked()
diff --git a/GroundSdk/Internal/Device/Instrument/AlarmsCore.swift b/GroundSdk/Internal/Device/Instrument/AlarmsCore.swift
index 6b70eef..d1211bc 100644
--- a/GroundSdk/Internal/Device/Instrument/AlarmsCore.swift
+++ b/GroundSdk/Internal/Device/Instrument/AlarmsCore.swift
@@ -74,6 +74,26 @@ extension AlarmsCore {
         let alarm = getAlarm(kind: kind)
         if alarm.level != level {
             alarm.level = level
+            if alarm.level == .off {
+                alarm.timer = nil
+            }
+            markChanged()
+        }
+
+        return self
+    }
+
+    /// Changes the timer of a given alarm.
+    ///
+    /// - Parameters:
+    ///    - timer: the timer of the alarm
+    ///    - forAlarm: kind of the alarm
+    /// - Returns: self to allow call chaining
+    /// - Note: Changes are not notified until notifyUpdated() is called.
+    @discardableResult public func update(timer: TimeInterval, forAlarm kind: Alarm.Kind) -> AlarmsCore {
+        let alarm = getAlarm(kind: kind)
+        if alarm.timer != timer {
+            alarm.timer = timer
             markChanged()
         }
 
diff --git a/GroundSdk/Device/Peripheral/FlightCameraRecorder.swift b/GroundSdk/Internal/Device/Peripheral/FlightCameraRecorder.swift
similarity index 53%
rename from GroundSdk/Device/Peripheral/FlightCameraRecorder.swift
rename to GroundSdk/Internal/Device/Peripheral/FlightCameraRecorder.swift
index a20f935..4cbad88 100644
--- a/GroundSdk/Device/Peripheral/FlightCameraRecorder.swift
+++ b/GroundSdk/Internal/Device/Peripheral/FlightCameraRecorder.swift
@@ -29,57 +29,13 @@
 
 import Foundation
 
-/// Flight camera recording setting.
-public protocol FlightCameraRecorderSetting: AnyObject {
+/// Setting to change the flight camera recording pipelines configuration.
+public protocol FlightCameraRecorderPipelinesSetting: AnyObject {
     /// Tells if setting value has been changed and is waiting for change confirmation.
     var updating: Bool { get }
 
-    /// Supported modes.
-    var supportedValues: Set<FlightCameraRecorderPipeline> { get }
-
-    /// Flight camera recorder pipelines.
-    var value: Set<FlightCameraRecorderPipeline> { get set }
-}
-
-/// Type of pipeline.
-public enum FlightCameraRecorderPipeline: Int, RawRepresentable, Hashable, CaseIterable, CustomStringConvertible {
-    /// Drone left stereo camera pipeline.
-    case fstcamLeftTimelapse
-    /// Drone right stereo camera pipeline.
-    case fstcamRightTimelapse
-    /// Drone front camera pipeline.
-    case fcamTimelapse
-    /// Drone left stereo camera last frames pipeline.
-    case fstcamLeftEmergency
-    /// Drone right stereo camera last frames pipeline.
-    case fstcamRightEmergency
-    /// Drone front camera last frames pipeline.
-    case fcamEmergency
-    /// Drone front camera follow me pipeline.
-    case fcamFollowme
-    /// Drone vertical camera precise home pipeline.
-    case vcamPrecisehome
-    /// Drone left stereo camera obstacle avoidance pipeline.
-    case fstcamLeftObstacleavoidance
-    /// Drone right stereo camera obstacle avoidance pipeline.
-    case fstcamRightObstacleavoidance
-    /// Drone vertical camera precise hovering pipeline.
-    case vcamPrecisehovering
-    /// Drone left stereo camera love calibration pipeline.
-    case fstcamLeftCalibration
-    /// Drone right stereo camera love calibration pipeline.
-    case fstcamRightCalibration
-    /// Drone right stereo camera precise hovering pipeline.
-    case fstcamRightPrecisehovering
-    /// Drone left stereo camera specific events pipeline.
-    case fstcamLeftEvent
-    /// Drone right stereo camera specific events pipeline.
-    case fstcamRightEvent
-    /// Drone front camera specific events pipeline.
-    case fcamEvent
-
-    /// Debug description.
-    public var description: String { "(\rawValue)" }
+    /// Flight camera recorder pipelines configuration identifier.
+    var id: UInt64 { get set }
 }
 
 /// Flight camera recorder peripheral interface for anafi2 drones.
@@ -92,10 +48,10 @@ public enum FlightCameraRecorderPipeline: Int, RawRepresentable, Hashable, CaseI
 /// device.getPeripheral(Peripherals.flightCameraRecorder)
 /// ```
 public protocol FlightCameraRecorder: Peripheral {
-    /// Gives access to the active pipelines setting.
-    /// This setting allows to select which recording pipelines are active for flight camera recording.
+    /// Gives access to the flight camera recording pipelines configuration setting.
+    /// This setting allows to select current flight camera recording pipelines configuration.
     /// - Note: This setting remains available when the drone is not connected.
-    var activePipelines: FlightCameraRecorderSetting { get }
+    var pipelines: FlightCameraRecorderPipelinesSetting { get }
 }
 
 /// :nodoc:
diff --git a/GroundSdk/Internal/Device/Peripheral/FlightCameraRecorderCore.swift b/GroundSdk/Internal/Device/Peripheral/FlightCameraRecorderCore.swift
index a55a9b3..d4927d5 100644
--- a/GroundSdk/Internal/Device/Peripheral/FlightCameraRecorderCore.swift
+++ b/GroundSdk/Internal/Device/Peripheral/FlightCameraRecorderCore.swift
@@ -31,15 +31,15 @@ import Foundation
 
 /// Flight camera recorder backend part.
 public protocol FlightCameraRecorderBackend: AnyObject {
-    /// Sets active pipelines.
+    /// Sets flight camera recorder pipeline configuration identifier.
     ///
-    /// - Parameter activePipelines: the new set of active pipelines
+    /// - Parameter pipelineConfigId: the new flight camera recorder pipeline configuration identifier.
     /// - Returns: true if the command has been sent, false if not connected and the value has been changed immediately
-    func set(activePipelines: Set<FlightCameraRecorderPipeline>) -> Bool
+    func set(pipelineConfigId: UInt64) -> Bool
 }
 
-/// Core implementation of FlightCameraRecorderSetting.
-class FlightCameraRecorderSettingCore: FlightCameraRecorderSetting, CustomDebugStringConvertible {
+/// Core implementation of FlightCameraRecorderPipelinesSetting.
+class FlightCameraRecorderPipelinesSettingCore: FlightCameraRecorderPipelinesSetting, CustomDebugStringConvertible {
     /// Delegate called when the setting value is changed by setting properties
     private unowned let didChangeDelegate: SettingChangeDelegate
 
@@ -51,24 +51,20 @@ class FlightCameraRecorderSettingCore: FlightCameraRecorderSetting, CustomDebugS
     /// Tells if the setting value has been changed and is waiting for change confirmation
     var updating: Bool { return timeout.isScheduled }
 
-    /// Supported pipeline values
-    private(set) var supportedValues: Set<FlightCameraRecorderPipeline> = []
-
-    /// Flight camera recorder value.
-    var value: Set<FlightCameraRecorderPipeline> {
+    /// Flight camera recorder pipeline configuration identifier.
+    var id: UInt64 {
         get {
-            return _value
+            return _id
         }
 
         set {
-            if _value != newValue {
-                let newSupportedValue = supportedValues.intersection(newValue)
-                if backend(newSupportedValue) {
-                    let oldValue = _value
+            if _id != newValue {
+                if backend(newValue) {
+                    let oldValue = _id
                     // value sent to the backend, update setting value and mark it updating
-                    _value = newSupportedValue
+                    _id = newValue
                     timeout.schedule { [weak self] in
-                        if let `self` = self, self.update(activePipelines: oldValue) {
+                        if let `self` = self, self.update(newId: oldValue) {
                             self.didChangeDelegate.userDidChangeSetting()
                         }
                     }
@@ -78,41 +74,29 @@ class FlightCameraRecorderSettingCore: FlightCameraRecorderSetting, CustomDebugS
         }
     }
 
-    /// Flight camera recorder set of pipelines.
-    private var _value: Set<FlightCameraRecorderPipeline> = []
+    /// Flight camera recorder pipeline configuration identifier.
+    private var _id = UInt64(0)
 
     /// Closure to call to change the value
-    private let backend: ((Set<FlightCameraRecorderPipeline>) -> Bool)
+    private let backend: ((UInt64) -> Bool)
 
     /// Constructor
     ///
     /// - Parameters:
     ///   - didChangeDelegate: delegate called when the setting value is changed by setting properties
     ///   - backend: closure to call to change the setting value
-    init(didChangeDelegate: SettingChangeDelegate, backend: @escaping (Set<FlightCameraRecorderPipeline>) -> Bool) {
+    init(didChangeDelegate: SettingChangeDelegate, backend: @escaping (UInt64) -> Bool) {
         self.didChangeDelegate = didChangeDelegate
         self.backend = backend
     }
 
-    /// Changes flight camera recorder supported pipeline values.
-    ///
-    /// - Parameter supportedValues: new set of supported pipelines
-    /// - Returns: true if the setting has been changed, false otherwise
-    func update(supportedValues newSupportedValues: Set<FlightCameraRecorderPipeline>) -> Bool {
-        if supportedValues != newSupportedValues {
-            supportedValues = newSupportedValues
-            return true
-        }
-        return false
-    }
-
-    /// Changes flight camera recorder pipelines.
+    /// Changes flight camera recorder pipelines configuration identifier.
     ///
     /// - Parameter activePipelines: new set of active pipelines
     /// - Returns: true if the setting has been changed, false otherwise
-    func update(activePipelines newActivePipelines: Set<FlightCameraRecorderPipeline>) -> Bool {
-        if updating || _value != newActivePipelines {
-            _value = newActivePipelines
+    func update(newId: UInt64) -> Bool {
+        if updating || _id != newId {
+            _id = newId
             timeout.cancel()
             return true
         }
@@ -131,7 +115,7 @@ class FlightCameraRecorderSettingCore: FlightCameraRecorderSetting, CustomDebugS
 
     /// Debug description.
     var debugDescription: String {
-        return "\(value.description) [updating: \(updating)]"
+        return "\(id) [updating: \(updating)]"
     }
 
 }
@@ -146,12 +130,12 @@ public class FlightCameraRecorderCore: PeripheralCore, FlightCameraRecorder {
     /// Tells if the setting value has been changed and is waiting for change confirmation
     var updating: Bool { return timeout.isScheduled }
 
-    public var activePipelines: FlightCameraRecorderSetting {
-        return _activePipelines
+    public var pipelines: FlightCameraRecorderPipelinesSetting {
+        return _pipelines
     }
 
     /// Internal storage for active pipelines setting.
-    private var _activePipelines: FlightCameraRecorderSettingCore!
+    private var _pipelines: FlightCameraRecorderPipelinesSettingCore!
 
     /// Implementation backend
     private unowned let backend: FlightCameraRecorderBackend
@@ -164,35 +148,21 @@ public class FlightCameraRecorderCore: PeripheralCore, FlightCameraRecorder {
     public init(store: ComponentStoreCore, backend: FlightCameraRecorderBackend) {
         self.backend = backend
         super.init(desc: Peripherals.flightCameraRecorder, store: store)
-        _activePipelines = FlightCameraRecorderSettingCore(
-        didChangeDelegate: self) { [unowned self] newActivePipelines in
-            return self.backend.set(activePipelines: newActivePipelines)
+        _pipelines = FlightCameraRecorderPipelinesSettingCore(
+        didChangeDelegate: self) { [unowned self] id in
+            return self.backend.set(pipelineConfigId: id)
         }
     }
 }
 
 extension FlightCameraRecorderCore {
 
-    /// Called by the backend, set the supported pipeline values
-    ///
-    /// - Parameter supportedValues: new supported pipeline values
-    /// - Returns: self to allow call chaining
-    /// - Note: Changes are not notified until notifyUpdated() is called.
-    @discardableResult public func update(supportedValues
-        newSupportedValues: Set<FlightCameraRecorderPipeline>) -> FlightCameraRecorderCore {
-        if _activePipelines.update(supportedValues: newSupportedValues) {
-            markChanged()
-        }
-        return self
-    }
-
     /// Called by the backend, change the setting data
     ///
-    /// - Parameter activePipelines: new set of active pipelines
+    /// - Parameter pipelineConfigId: new pipeline configuration identifier
     /// - Returns: self to allow call chaining
-    @discardableResult public func update(activePipelines
-        newActivePipelines: Set<FlightCameraRecorderPipeline>) -> FlightCameraRecorderCore {
-        if _activePipelines.update(activePipelines: newActivePipelines) {
+    @discardableResult public func update(pipelineConfigId: UInt64) -> FlightCameraRecorderCore {
+        if _pipelines.update(newId: pipelineConfigId) {
             markChanged()
         }
         return self
@@ -203,7 +173,7 @@ extension FlightCameraRecorderCore {
     /// - Returns: self to allow call chaining
     /// - note: changes are not notified until notifyUpdated() is called
     @discardableResult public func cancelSettingsRollback() -> FlightCameraRecorderCore {
-        _activePipelines.cancelRollback { markChanged() }
+        _pipelines.cancelRollback { markChanged() }
         return self
     }
 }
diff --git a/GroundSdk/Internal/Device/PilotingItf/FlightPlanPilotingItfCore.swift b/GroundSdk/Internal/Device/PilotingItf/FlightPlanPilotingItfCore.swift
index b04ea73..1a12d26 100644
--- a/GroundSdk/Internal/Device/PilotingItf/FlightPlanPilotingItfCore.swift
+++ b/GroundSdk/Internal/Device/PilotingItf/FlightPlanPilotingItfCore.swift
@@ -36,9 +36,12 @@ public protocol FlightPlanPilotingItfBackend: ActivablePilotingItfBackend {
     /// - Parameters:
     ///    - restart: `true` to force restarting the flight plan.
     ///    - interpreter: instructs how the flight plan must be interpreted by the drone.
-    ///    - missionItem: index of mission item where the flight plan should start, `nil` if should start from beginning
+    ///    - missionItem: index of mission item where the flight plan should start, `nil` if should
+    ///      start from beginning
+    ///    - disconnectionPolicy: the behavior of the drone when a disconnection occurs.
     /// - Returns: `true` on success, false if the piloting interface can't be activated
-    func activate(restart: Bool, interpreter: FlightPlanInterpreter, missionItem: UInt?) -> Bool
+    func activate(restart: Bool, interpreter: FlightPlanInterpreter, missionItem: UInt?,
+                  disconnectionPolicy: FlightPlanDisconnectionPolicy) -> Bool
 
     /// Stops execution of current flight plan.
     ///
@@ -54,7 +57,8 @@ public protocol FlightPlanPilotingItfBackend: ActivablePilotingItfBackend {
     ///     - customFlightPlanId: custom flight plan id
     func uploadFlightPlan(filepath: String, customFlightPlanId: String)
 
-    /// Clears information about the latest flight plan started by the drone prior to current connection.
+    /// Clears information about the latest flight plan started by the drone prior to current
+    /// connection.
     func clearRecoveryInfo()
 
     /// Cancels any on-going upload.
@@ -66,8 +70,8 @@ public protocol FlightPlanPilotingItfBackend: ActivablePilotingItfBackend {
     ///
     /// - Parameters:
     ///    - customId: custom identifier, as provided by `recoveryInfo`
-    ///    - resourceId: first resource identifier of media captured after the latest reached waypoint, as provided
-    ///    by `recoveryInfo`
+    ///    - resourceId: first resource identifier of media captured after the latest reached
+    ///      waypoint, as provided by `recoveryInfo`
     ///    - completion: completion callback
     ///    - result: media resources clean result
     /// - Returns: a clean media resources cancelable request
@@ -98,6 +102,8 @@ public class FlightPlanPilotingItfCore: ActivablePilotingItfCore, FlightPlanPilo
 
     private(set) public var activateAtMissionItemSupported = false
 
+    private(set) public var activateAtMissionItemV2Supported = false
+
     private(set) public var isUploadWithCustomIdSupported = false
 
     /// Super class backend as FlightPlanPilotingItfBackend
@@ -115,24 +121,43 @@ public class FlightPlanPilotingItfCore: ActivablePilotingItfCore, FlightPlanPilo
     }
 
     public func activate(restart: Bool) -> Bool {
-        if state == .idle {
-            return flightPlanBackend.activate(restart: restart, interpreter: .legacy, missionItem: nil)
+        return commonActivate(restart: restart)
+    }
+
+    public func activate(restart: Bool, interpreter: FlightPlanInterpreter) -> Bool {
+        return commonActivate(restart: restart, interpreter: interpreter)
+    }
+
+    public func activate(restart: Bool, interpreter: FlightPlanInterpreter, missionItem: UInt) -> Bool {
+        if activateAtMissionItemSupported {
+            return commonActivate(restart: restart,
+                                  interpreter: interpreter,
+                                  missionItem: missionItem)
         }
         return false
     }
 
-    public func activate(restart: Bool, interpreter: FlightPlanInterpreter) -> Bool {
-        if state == .idle {
-            return flightPlanBackend.activate(restart: restart, interpreter: interpreter, missionItem: nil)
+    public func activate(restart: Bool, interpreter: FlightPlanInterpreter, missionItem: UInt,
+                         disconnectionPolicy: FlightPlanDisconnectionPolicy) -> Bool {
+        if activateAtMissionItemV2Supported {
+            return commonActivate(restart: restart,
+                                  interpreter: interpreter,
+                                  missionItem: missionItem,
+                                  disconnectionPolicy: disconnectionPolicy)
         }
         return false
     }
 
-    public func activate(restart: Bool, interpreter: FlightPlanInterpreter, missionItem: UInt) -> Bool {
-        if state == .idle && activateAtMissionItemSupported {
+    /// Regroups all activation demands to the flight plan backend.
+    private func commonActivate(restart: Bool,
+                                interpreter: FlightPlanInterpreter = .legacy,
+                                missionItem: UInt? = nil,
+                                disconnectionPolicy: FlightPlanDisconnectionPolicy = .returnToHome) -> Bool {
+        if state == .idle {
             return flightPlanBackend.activate(restart: restart,
                                               interpreter: interpreter,
-                                              missionItem: missionItem)
+                                              missionItem: missionItem,
+                                              disconnectionPolicy: disconnectionPolicy)
         }
         return false
     }
@@ -299,7 +324,7 @@ extension FlightPlanPilotingItfCore {
     ///
     /// - Parameter isPaused: true if the flight plan is currently paused, false otherwise
     /// - Returns: self to allow call chaining
-    /// - Note: Changes are not notified until notifyUpdated() is called.
+    /// - Note: Changes are not notified until `notifyUpdated()` is called.
     @discardableResult public func update(isPaused newValue: Bool) -> FlightPlanPilotingItfCore {
         if isPaused != newValue {
             isPaused = newValue
@@ -312,7 +337,7 @@ extension FlightPlanPilotingItfCore {
     ///
     /// - Parameter activateAtMissionItemSupported: `true` if supported, `false` otherwise
     /// - Returns: self to allow call chaining
-    /// - Note: Changes are not notified until notifyUpdated() is called.
+    /// - Note: Changes are not notified until `notifyUpdated()` is called.
     @discardableResult
     public func update(activateAtMissionItemSupported newValue: Bool) -> FlightPlanPilotingItfCore {
         if activateAtMissionItemSupported != newValue {
@@ -322,11 +347,26 @@ extension FlightPlanPilotingItfCore {
         return self
     }
 
+    /// Updates capability to start a flight plan at a given mission item with a disconnection
+    /// policy.
+    ///
+    /// - Parameter activateAtMissionItemV2Supported: `true` if supported, `false` otherwise
+    /// - Returns: self to allow call chaining
+    /// - Note: Changes are not notified until `notifyUpdated()` is called.
+    @discardableResult
+    public func update(activateAtMissionItemV2Supported newValue: Bool) -> FlightPlanPilotingItfCore {
+        if activateAtMissionItemV2Supported != newValue {
+            activateAtMissionItemV2Supported = newValue
+            markChanged()
+        }
+        return self
+    }
+
     /// Updates capability to start a flight plan at a given mission item, with custom id.
     ///
     /// - Parameter isUploadWithCustomIdSupported: `true` if supported, `false` otherwise
     /// - Returns: self to allow call chaining
-    /// - Note: Changes are not notified until notifyUpdated() is called.
+    /// - Note: Changes are not notified until `notifyUpdated()` is called.
     @discardableResult
     public func update(isUploadWithCustomIdSupported newValue: Bool) -> FlightPlanPilotingItfCore {
         if isUploadWithCustomIdSupported != newValue {
diff --git a/GroundSdk/Internal/Engine/BlackBox/BlackBoxCollector.swift b/GroundSdk/Internal/Engine/BlackBox/BlackBoxCollector.swift
index 799c6d4..98f9454 100644
--- a/GroundSdk/Internal/Engine/BlackBox/BlackBoxCollector.swift
+++ b/GroundSdk/Internal/Engine/BlackBox/BlackBoxCollector.swift
@@ -55,6 +55,9 @@ class BlackBoxCollector {
     /// File extension of a non finalized report
     fileprivate static let nonFinalizedFileExtension = "tmp"
 
+    /// Whether collection has been cancelled.
+    private var isCancelled: Bool = false
+
     /// Blackbox public folder
     private var blackboxPublicFolder: String? = GroundSdkConfig.sharedInstance.blackboxPublicFolder
 
@@ -104,6 +107,7 @@ class BlackBoxCollector {
                     let reports = try? FileManager.default.contentsOfDirectory(
                         at: dir, includingPropertiesForKeys: nil, options: .skipsHiddenFiles)
                     reports?.forEach { report in
+                        guard !self.isCancelled else { return }
                         // if the report is finalized
                         if report.isAFinalizedBlackBox {
                             // keep the parent folder
@@ -123,11 +127,18 @@ class BlackBoxCollector {
             }
 
             DispatchQueue.main.async {
-                completionCallback(toUpload)
+                if !self.isCancelled {
+                    completionCallback(toUpload)
+                }
             }
         }
     }
 
+    /// Cancels black box collection.
+    func cancelCollection() {
+        isCancelled = true
+    }
+
     /// Delete a black box in background.
     ///
     /// - Parameter url: url of the black box report to delete
diff --git a/GroundSdk/Internal/Engine/BlackBoxEngine.swift b/GroundSdk/Internal/Engine/BlackBoxEngine.swift
index b792271..02562ee 100644
--- a/GroundSdk/Internal/Engine/BlackBoxEngine.swift
+++ b/GroundSdk/Internal/Engine/BlackBoxEngine.swift
@@ -66,7 +66,7 @@ class BlackBoxEngine: EngineBaseCore {
     private var userAccountInfo: UserAccountInfoCore?
 
     /// Black box reports collector
-    private var collector: BlackBoxCollector!
+    private var collector: BlackBoxCollector?
 
     /// List of reports waiting for upload.
     ///
@@ -102,7 +102,6 @@ class BlackBoxEngine: EngineBaseCore {
 
         super.init(enginesController: enginesController)
         publishUtility(BlackBoxStorageCoreImpl(engine: self))
-        collector = createCollector()
     }
 
     public override func startEngine() {
@@ -121,9 +120,11 @@ class BlackBoxEngine: EngineBaseCore {
                 ULog.d(.myparrot,
                        "User account change with private mode or old data upload denied -> delete all black boxes")
                 self.stopAndDropAllBlackBoxes()
+                self.userAccountInfo = newInfo
+            } else {
+                self.userAccountInfo = newInfo
+                self.startBlackBoxUploadProcess()
             }
-            self.userAccountInfo = newInfo
-            self.startBlackBoxUploadProcess()
         })
 
         if spaceQuotaInMb != 0 {
@@ -131,7 +132,8 @@ class BlackBoxEngine: EngineBaseCore {
                                                  totalMaxSizeMb: spaceQuotaInMb, includingSubfolders: true)
         }
 
-        collector.collectBlackBoxes { [weak self] blackBoxes in
+        collector = createCollector()
+        collector?.collectBlackBoxes { [weak self] blackBoxes in
             if let `self` = self, self.started {
                 self.pendingReports.append(contentsOf: blackBoxes)
                 self.startBlackBoxUploadProcess()
@@ -160,6 +162,9 @@ class BlackBoxEngine: EngineBaseCore {
         blackBoxReporter.unpublish()
         cancelCurrentUpload()
         uploader = nil
+        collector?.cancelCollection()
+        collector = nil
+        pendingReports = []
         connectivityMonitor.stop()
     }
 
@@ -170,7 +175,7 @@ class BlackBoxEngine: EngineBaseCore {
         guard userAccountInfo?.privateMode == false else {
             return
         }
-        collector.archive(blackBoxData: blackBoxData) { [weak self] report in
+        collector?.archive(blackBoxData: blackBoxData) { [weak self] report in
             self?.pendingReports.append(report)
             ULog.d(.myparrot, "BLACKBOX append \(report)")
             self?.startBlackBoxUploadProcess()
@@ -282,17 +287,17 @@ class BlackBoxEngine: EngineBaseCore {
     /// - Parameter blackBox: the black box report to delete
     private func deleteBlackBox(_ blackBox: BlackBox) {
         ULog.d(.myparrot, "BLACKBOX deleteBlackBox \(blackBox)")
-        if self.pendingReports.first == blackBox {
-            self.pendingReports.remove(at: 0)
+        if pendingReports.first == blackBox {
+            pendingReports.remove(at: 0)
         } else {
             ULog.w(.blackBoxEngineTag, "Uploaded report is not the first one of the pending")
             // fallback
-            if let index: Int = self.pendingReports.firstIndex(where: {$0 == blackBox}) {
-                self.pendingReports.remove(at: index)
+            if let index: Int = pendingReports.firstIndex(where: {$0 == blackBox}) {
+                pendingReports.remove(at: index)
             }
         }
 
-        self.collector.deleteBlackBox(at: blackBox.url)
+        collector?.deleteBlackBox(at: blackBox.url)
     }
 
     /// Cancel the current upload if there is one.
@@ -313,7 +318,7 @@ class BlackBoxEngine: EngineBaseCore {
         cancelCurrentUpload()
 
         pendingReports.forEach { (blackBox) in
-            collector.deleteBlackBox(at: blackBox.url)
+            collector?.deleteBlackBox(at: blackBox.url)
         }
 
         // clear all pending blackBoxes
diff --git a/GroundSdk/Internal/Engine/CrashReport/CrashReportCollector.swift b/GroundSdk/Internal/Engine/CrashReport/CrashReportCollector.swift
index 8610ebc..65fcbce 100644
--- a/GroundSdk/Internal/Engine/CrashReport/CrashReportCollector.swift
+++ b/GroundSdk/Internal/Engine/CrashReport/CrashReportCollector.swift
@@ -48,6 +48,9 @@ class CrashReportCollector {
     /// This directory should not be scanned nor deleted because reports might be currently downloading in it.
     private let reportsLocalWorkDir: URL
 
+    /// Whether collection has been cancelled.
+    private var isCancelled: Bool = false
+
     /// Constructor
     ///
     /// - Parameters:
@@ -94,6 +97,7 @@ class CrashReportCollector {
                     let reportDirs = try? FileManager.default.contentsOfDirectory(
                         at: dir, includingPropertiesForKeys: nil, options: .skipsHiddenFiles)
                     reportDirs?.forEach { reportUrl in
+                        guard !self.isCancelled else { return }
                         // if the report is finalized
                         if reportUrl.isAFinalizedCrashReport {
                             // keep the parent folder
@@ -113,11 +117,18 @@ class CrashReportCollector {
             }
 
             DispatchQueue.main.async {
-                completionCallback(toUpload)
+                if !self.isCancelled {
+                    completionCallback(toUpload)
+                }
             }
         }
     }
 
+    /// Cancels crash report collection.
+    func cancelCollection() {
+        isCancelled = true
+    }
+
     /// Delete a crash report in background.
     ///
     /// - Parameter url: url of the crash report to delete
diff --git a/GroundSdk/Internal/Engine/CrashReportEngine.swift b/GroundSdk/Internal/Engine/CrashReportEngine.swift
index 485ce66..6a7f326 100644
--- a/GroundSdk/Internal/Engine/CrashReportEngine.swift
+++ b/GroundSdk/Internal/Engine/CrashReportEngine.swift
@@ -66,7 +66,7 @@ class CrashReportEngine: EngineBaseCore {
     private var userAccountInfo: UserAccountInfoCore?
 
     /// Crash reports file collector.
-    private var collector: CrashReportCollector!
+    private var collector: CrashReportCollector?
 
     /// List of reports waiting for upload.
     ///
@@ -102,7 +102,6 @@ class CrashReportEngine: EngineBaseCore {
 
         super.init(enginesController: enginesController)
         publishUtility(CrashReportStorageCoreImpl(engine: self))
-        collector = createCollector()
     }
 
     public override func startEngine() {
@@ -125,9 +124,11 @@ class CrashReportEngine: EngineBaseCore {
                 ULog.d(.myparrot,
                        "User account change with private mode or old data upload denied -> delete all reports")
                 self.dropReports()
+                self.userAccountInfo = newInfo
+            } else {
+                self.userAccountInfo = newInfo
+                self.startReportUploadProcess()
             }
-            self.userAccountInfo = newInfo
-            self.startReportUploadProcess()
         })
 
         if spaceQuotaInMb != 0 {
@@ -135,7 +136,8 @@ class CrashReportEngine: EngineBaseCore {
                                                     totalMaxSizeMb: spaceQuotaInMb, includingSubfolders: true)
         }
 
-        collector.collectCrashReports { [weak self] crashReports in
+        collector = createCollector()
+        collector?.collectCrashReports { [weak self] crashReports in
             if let `self` = self, self.started {
                 self.pendingReportUrls.append(contentsOf: crashReports)
                 self.startReportUploadProcess()
@@ -163,6 +165,9 @@ class CrashReportEngine: EngineBaseCore {
         crashReporter.unpublish()
         cancelCurrentUpload()
         uploader = nil
+        collector?.cancelCollection()
+        collector = nil
+        pendingReportUrls = []
         connectivityMonitor.stop()
     }
 
@@ -277,23 +282,23 @@ class CrashReportEngine: EngineBaseCore {
     ///
     /// - Parameter report: the crash report to delete
     private func deleteCrashReport(at reportUrl: URL) {
-        if self.pendingReportUrls.first == reportUrl {
-            self.pendingReportUrls.remove(at: 0)
+        if pendingReportUrls.first == reportUrl {
+            pendingReportUrls.remove(at: 0)
         } else {
             ULog.w(.crashReportEngineTag, "Uploaded report is not the first one of the pending")
             // fallback
-            if let index: Int = self.pendingReportUrls.firstIndex(where: {$0 == reportUrl}) {
-                self.pendingReportUrls.remove(at: index)
+            if let index: Int = pendingReportUrls.firstIndex(where: {$0 == reportUrl}) {
+                pendingReportUrls.remove(at: index)
             }
         }
 
-        self.collector.deleteCrashReport(at: reportUrl)
+        collector?.deleteCrashReport(at: reportUrl)
 
         if reportUrl.pathExtension == "gz" {
             let urlLight = URL(fileURLWithPath: reportUrl.path + ".anon")
-            if let index: Int = self.pendingReportUrls.firstIndex(where: {$0 == urlLight}) {
-                self.pendingReportUrls.remove(at: index)
-                self.collector.deleteCrashReport(at: urlLight)
+            if let index: Int = pendingReportUrls.firstIndex(where: {$0 == urlLight}) {
+                pendingReportUrls.remove(at: index)
+                collector?.deleteCrashReport(at: urlLight)
             }
         }
     }
@@ -315,7 +320,7 @@ class CrashReportEngine: EngineBaseCore {
         cancelCurrentUpload()
 
         pendingReportUrls.forEach { (reportUrl) in
-            collector.deleteCrashReport(at: reportUrl)
+            collector?.deleteCrashReport(at: reportUrl)
         }
 
         // clear all pending reports
diff --git a/GroundSdk/Internal/Engine/FlightCameraRecord/FlightCameraRecordCollector.swift b/GroundSdk/Internal/Engine/FlightCameraRecord/FlightCameraRecordCollector.swift
index 5cf89e1..904ef61 100644
--- a/GroundSdk/Internal/Engine/FlightCameraRecord/FlightCameraRecordCollector.swift
+++ b/GroundSdk/Internal/Engine/FlightCameraRecord/FlightCameraRecordCollector.swift
@@ -48,6 +48,9 @@ class FlightCameraRecordCollector {
     /// This directory should not be scanned nor deleted because records might be currently downloading in it.
     private let workDir: URL
 
+    /// Whether collection has been cancelled.
+    private var isCancelled: Bool = false
+
     /// Constructor
     ///
     /// - Parameters:
@@ -95,6 +98,7 @@ class FlightCameraRecordCollector {
                     let recordUrls = try? FileManager.default.contentsOfDirectory(
                         at: dir, includingPropertiesForKeys: nil, options: .skipsHiddenFiles)
                     recordUrls?.forEach { recordUrl in
+                        guard !self.isCancelled else { return }
                         if recordUrl.isProcessing {
                             FlightLogEngineBase.recover(file: recordUrl)
                             GroundSdkCore.logEvent(
@@ -116,11 +120,18 @@ class FlightCameraRecordCollector {
             }
 
             DispatchQueue.main.async {
-                completionCallback(toUpload)
+                if !self.isCancelled {
+                    completionCallback(toUpload)
+                }
             }
         }
     }
 
+    /// Cancels flight camera record collection.
+    func cancelCollection() {
+        isCancelled = true
+    }
+
     /// Delete a flight camera record in background.
     ///
     /// - Parameter url: url of the flight camera record to delete
diff --git a/GroundSdk/Internal/Engine/FlightCameraRecordEngine.swift b/GroundSdk/Internal/Engine/FlightCameraRecordEngine.swift
index 95a0e02..8443e77 100644
--- a/GroundSdk/Internal/Engine/FlightCameraRecordEngine.swift
+++ b/GroundSdk/Internal/Engine/FlightCameraRecordEngine.swift
@@ -138,7 +138,7 @@ class FlightCameraRecordEngine: EngineBaseCore {
     private var userAccountInfo: UserAccountInfoCore?
 
     /// Flight camera records file collector.
-    private var collector: FlightCameraRecordCollector!
+    private var collector: FlightCameraRecordCollector?
 
     /// List of flight camera records waiting for upload.
     ///
@@ -184,7 +184,6 @@ class FlightCameraRecordEngine: EngineBaseCore {
 
         super.init(enginesController: enginesController)
         publishUtility(FlightCameraRecordStorageCoreImpl(engine: self))
-        collector = createCollector()
     }
 
     /// Flight camera anonymizer class init.
@@ -232,9 +231,11 @@ class FlightCameraRecordEngine: EngineBaseCore {
                 ULog.d(.myparrot,
                        "User account change with private mode or old data upload denied -> delete all records")
                 self.dropFlightCameraRecords()
+                self.userAccountInfo = newInfo
+            } else {
+                self.userAccountInfo = newInfo
+                self.startFlightCameraRecordUploadProcess()
             }
-            self.userAccountInfo = newInfo
-            self.startFlightCameraRecordUploadProcess()
         })
 
         if spaceQuotaInMb != 0 {
@@ -244,7 +245,8 @@ class FlightCameraRecordEngine: EngineBaseCore {
                                                     totalMaxSizeMb: spaceQuotaInMb, includingSubfolders: true)
         }
 
-        collector.collectFlightCameraRecords { [weak self] flightCameraRecords in
+        collector = createCollector()
+        collector?.collectFlightCameraRecords { [weak self] flightCameraRecords in
             if let `self` = self, self.started {
                 ULog.d(.parrotCloudFcrTag, "Records locally collected: \(flightCameraRecords)")
                 self.pendingFlightCameraRecordUrls.append(contentsOf: flightCameraRecords)
@@ -276,9 +278,10 @@ class FlightCameraRecordEngine: EngineBaseCore {
         flightCameraRecordReporter.unpublish()
         cancelCurrentUpload()
         uploader = nil
-        if connectivityMonitor != nil {
-            connectivityMonitor.stop()
-        }
+        collector?.cancelCollection()
+        collector = nil
+        pendingFlightCameraRecordUrls = []
+        connectivityMonitor?.stop()
     }
 
     /// Adds a flightCameraRecord to the flight camera records to be uploaded.
@@ -541,7 +544,7 @@ class FlightCameraRecordEngine: EngineBaseCore {
                 ULog.w(.parrotCloudFcrTag, "FCR not found in the pending list")
             }
         }
-        collector.deleteFlightCameraRecord(at: fcrUrl)
+        collector?.deleteFlightCameraRecord(at: fcrUrl)
 
         GroundSdkCore.logEvent(message: "EVT:LOGS;event='delete';reason='\(reason)';file='\(fcrUrl.lastPathComponent)'")
     }
@@ -553,8 +556,8 @@ class FlightCameraRecordEngine: EngineBaseCore {
     ///    - fcr: the record to delete
     ///    - reason: the reason why the record should be deleted
     private func deleteFlightCameraRecordFile(at fcr: FlightCameraRecordFile, reason: String) {
-        collector.deleteFlightCameraRecord(at: fcr.blurFile)
-        collector.deleteFlightCameraRecord(at: fcr.jsonFile)
+        collector?.deleteFlightCameraRecord(at: fcr.blurFile)
+        collector?.deleteFlightCameraRecord(at: fcr.jsonFile)
         deleteFlightCameraRecord(at: fcr.originalFile, reason: reason)
     }
 
@@ -575,7 +578,7 @@ class FlightCameraRecordEngine: EngineBaseCore {
         cancelCurrentUpload()
 
         pendingFlightCameraRecordUrls.forEach { url in
-            collector.deleteFlightCameraRecord(at: url)
+            collector?.deleteFlightCameraRecord(at: url)
             GroundSdkCore.logEvent(message: "EVT:LOGS;event='delete';reason='denied';file='\(url.lastPathComponent)'")
         }
 
diff --git a/GroundSdk/Internal/Engine/FlightLog/FlightLogCollector.swift b/GroundSdk/Internal/Engine/FlightLog/FlightLogCollector.swift
index 99e1910..cf0cf25 100644
--- a/GroundSdk/Internal/Engine/FlightLog/FlightLogCollector.swift
+++ b/GroundSdk/Internal/Engine/FlightLog/FlightLogCollector.swift
@@ -48,6 +48,9 @@ class FlightLogCollector {
     /// This directory should not be scanned nor deleted because reports might be currently downloading in it.
     private let flightLogsLocalWorkDir: URL
 
+    /// Whether collection has been cancelled.
+    private var isCancelled: Bool = false
+
     /// Constructor
     ///
     /// - Parameters:
@@ -95,6 +98,7 @@ class FlightLogCollector {
                     let logUrls = try? FileManager.default.contentsOfDirectory(
                         at: dir, includingPropertiesForKeys: nil, options: .skipsHiddenFiles)
                     logUrls?.forEach { logUrl in
+                        guard !self.isCancelled else { return }
                         if logUrl.isConverting { // if the report crashed while converting to gutma.
                             FlightLogEngineBase.recover(file: logUrl)
                             GroundSdkCore.logEvent(
@@ -122,11 +126,18 @@ class FlightLogCollector {
             }
 
             DispatchQueue.main.async {
-                completionCallback(toUpload)
+                if !self.isCancelled {
+                    completionCallback(toUpload)
+                }
             }
         }
     }
 
+    /// Cancels flightLog collection.
+    func cancelCollection() {
+        isCancelled = true
+    }
+
     /// Delete a flightLog report in background.
     ///
     /// - Parameter url: url of the flightLog report to delete
diff --git a/GroundSdk/Internal/Engine/FlightLogEngine.swift b/GroundSdk/Internal/Engine/FlightLogEngine.swift
index 5f848ba..8cdeea4 100644
--- a/GroundSdk/Internal/Engine/FlightLogEngine.swift
+++ b/GroundSdk/Internal/Engine/FlightLogEngine.swift
@@ -87,9 +87,11 @@ class FlightLogEngine: FlightLogEngineBase {
                 ULog.d(.myparrot,
                        "User account change with private mode or old data upload denied -> delete all flight logs")
                 self.dropFlightLogs()
+                self.userAccountInfo = newInfo
+            } else {
+                self.userAccountInfo = newInfo
+                self.startFlightLogUploadProcess()
             }
-            self.userAccountInfo = newInfo
-            self.startFlightLogUploadProcess()
         })
 
         if spaceQuotaInMb != 0 {
@@ -324,7 +326,7 @@ class FlightLogEngine: FlightLogEngineBase {
         var flightLogUrlReal = flightLogUrl
         if flightLogUrl.pathExtension == "anon" {
             /// remove anon flightLog
-            self.collector.deleteFlightLog(at: flightLogUrl)
+            collector?.deleteFlightLog(at: flightLogUrl)
             flightLogUrlReal = URL(fileURLWithPath: flightLogUrl.path).deletingPathExtension()
         }
 
@@ -339,7 +341,7 @@ class FlightLogEngine: FlightLogEngineBase {
                 self.pendingFlightLogUrls.remove(at: index)
             }
         }
-        self.collector.deleteFlightLog(at: flightLogUrlReal)
+        collector?.deleteFlightLog(at: flightLogUrlReal)
         GroundSdkCore.logEvent(message: "EVT:LOGS;event='delete';reason='\(reason)';" +
             "file='\(flightLogUrlReal.lastPathComponent)'")
     }
@@ -354,7 +356,7 @@ class FlightLogEngine: FlightLogEngineBase {
         cancelCurrentUpload()
 
         pendingFlightLogUrls.forEach { (flightLogUrl) in
-            collector.deleteFlightLog(at: flightLogUrl)
+            collector?.deleteFlightLog(at: flightLogUrl)
             GroundSdkCore.logEvent(message: "EVT:LOGS;event='delete';reason='denied';" +
                                     "file='\(flightLogUrl.lastPathComponent)'")
         }
diff --git a/GroundSdk/Internal/Engine/FlightLogEngineBase.swift b/GroundSdk/Internal/Engine/FlightLogEngineBase.swift
index 9a7d52c..763964d 100644
--- a/GroundSdk/Internal/Engine/FlightLogEngineBase.swift
+++ b/GroundSdk/Internal/Engine/FlightLogEngineBase.swift
@@ -64,7 +64,7 @@ class FlightLogEngineBase: EngineBaseCore {
     public var currentUploadRequest: CancelableCore?
 
     /// Flight logs collector.
-    public var collector: FlightLogCollector!
+    public var collector: FlightLogCollector?
 
     /// Constructor
     ///
@@ -76,7 +76,6 @@ class FlightLogEngineBase: EngineBaseCore {
         engineDir = cacheDirUrl.appendingPathComponent(engineDirName, isDirectory: true)
         workDir = engineDir.appendingPathComponent(UUID().uuidString, isDirectory: true)
         super.init(enginesController: enginesController)
-        collector = createCollector()
     }
 
     /// Required Constructor
@@ -89,11 +88,11 @@ class FlightLogEngineBase: EngineBaseCore {
         engineDir = cacheDirUrl.appendingPathComponent("default", isDirectory: true)
         workDir = engineDir.appendingPathComponent(UUID().uuidString, isDirectory: true)
         super.init(enginesController: enginesController)
-        collector = createCollector()
     }
 
     public override func startEngine() {
-        collector.collectFlightLogs { [weak self] flightLogs in
+        collector = createCollector()
+        collector?.collectFlightLogs { [weak self] flightLogs in
             if let `self` = self, self.started {
                 self.pendingFlightLogUrls.append(contentsOf: flightLogs)
                 self.queueForProcessing()
@@ -103,6 +102,9 @@ class FlightLogEngineBase: EngineBaseCore {
 
     public override func stopEngine() {
         cancelCurrentUpload()
+        collector?.cancelCollection()
+        collector = nil
+        pendingFlightLogUrls = []
     }
 
     /// Cancel the current upload if there is one.
diff --git a/GroundSdk/Internal/Facility/BlackBoxReporterCore.swift b/GroundSdk/Internal/Facility/BlackBoxReporterCore.swift
index 5769b9a..8e26c10 100644
--- a/GroundSdk/Internal/Facility/BlackBoxReporterCore.swift
+++ b/GroundSdk/Internal/Facility/BlackBoxReporterCore.swift
@@ -42,6 +42,11 @@ class BlackBoxReporterCore: FacilityCore, BlackBoxReporter {
     init(store: ComponentStoreCore) {
         super.init(desc: Facilities.blackBoxReporter, store: store)
     }
+
+    override func reset() {
+        pendingCount = 0
+        isUploading = false
+    }
 }
 
 /// Backend callback methods
diff --git a/GroundSdk/Internal/Facility/CrashReporterCore.swift b/GroundSdk/Internal/Facility/CrashReporterCore.swift
index a1d6208..512a220 100644
--- a/GroundSdk/Internal/Facility/CrashReporterCore.swift
+++ b/GroundSdk/Internal/Facility/CrashReporterCore.swift
@@ -42,6 +42,11 @@ class CrashReporterCore: FacilityCore, CrashReporter {
     init(store: ComponentStoreCore) {
         super.init(desc: Facilities.crashReporter, store: store)
     }
+
+    override func reset() {
+        pendingCount = 0
+        isUploading = false
+    }
 }
 
 /// Backend callback methods
diff --git a/GroundSdk/Internal/Facility/FlightCameraRecordReporterCore.swift b/GroundSdk/Internal/Facility/FlightCameraRecordReporterCore.swift
index a5a56f6..925d42a 100644
--- a/GroundSdk/Internal/Facility/FlightCameraRecordReporterCore.swift
+++ b/GroundSdk/Internal/Facility/FlightCameraRecordReporterCore.swift
@@ -42,6 +42,11 @@ class FlightCameraRecordReporterCore: FacilityCore, FlightCameraRecordReporter {
     init(store: ComponentStoreCore) {
         super.init(desc: Facilities.flightCameraRecordReporter, store: store)
     }
+
+    override func reset() {
+        pendingCount = 0
+        isUploading = false
+    }
 }
 
 /// Backend callback methods
diff --git a/GroundSdk/Internal/Facility/FlightLogReporterCore.swift b/GroundSdk/Internal/Facility/FlightLogReporterCore.swift
index 3ea3697..b5bc95f 100644
--- a/GroundSdk/Internal/Facility/FlightLogReporterCore.swift
+++ b/GroundSdk/Internal/Facility/FlightLogReporterCore.swift
@@ -42,6 +42,11 @@ class FlightLogReporterCore: FacilityCore, FlightLogReporter {
     init(store: ComponentStoreCore) {
         super.init(desc: Facilities.flightLogReporter, store: store)
     }
+
+    override func reset() {
+        pendingCount = 0
+        isUploading = false
+    }
 }
 
 /// Backend callback methods